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Fixed rendering of sensor geometry: 

- Account for geometry orientation in intersection calculation
- Draw sensor out to its range when it doesn't intersect the target body
sensor-dev
Chris Laurel 2010-11-30 20:54:22 +00:00
parent 9840a67473
commit 9d8a301551
2 changed files with 17 additions and 9 deletions
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20
src/celengine/sensorgeometry.cpp
View File

@ -74,11 +74,6 @@ SensorGeometry::render(RenderContext& rc, double tsec)
Vector3d pos = targetPos.offsetFromKm(obsPos);
if (pos.norm() > m_range)
{
pos = pos.normalized() * m_range;
}
Quaterniond q = m_observer->getOrientation(jd);
const unsigned int sectionCount = 40;
@ -86,7 +81,7 @@ SensorGeometry::render(RenderContext& rc, double tsec)
Vector3d profile[sectionCount];
Vector3d footprint[sectionCount];
Quaterniond obsOrientation = m_observer->getOrientation(jd).conjugate();
Quaterniond obsOrientation = m_observer->getOrientation(jd).conjugate() * m_observer->getGeometryOrientation().cast<double>().conjugate();
Quaterniond targetOrientation = m_target->getOrientation(jd).conjugate();
Vector3d origin = targetOrientation.conjugate() * -pos;
Ellipsoidd targetEllipsoid(m_target->getSemiAxes().cast<double>());
@ -110,6 +105,8 @@ SensorGeometry::render(RenderContext& rc, double tsec)
double t = double(i) / double(sectionCount);
double theta = t * PI * 2.0;
// Note: -sin() is used here to reverse the vertex order so that the _outside_
// of the frustum is drawn.
profile[i] = obsOrientation * Vector3d(cos(theta) * m_horizontalFov, -sin(theta) * m_verticalFov, 1.0).normalized();
}
@ -120,8 +117,17 @@ SensorGeometry::render(RenderContext& rc, double tsec)
Vector3d direction = profile[i];
Vector3d testDirection = targetOrientation.conjugate() * direction;
// Draw the sensor frustum out to either the range or the point of
// intersection with the target body--whichever is closer.
double distance = 0.0;
testIntersection(Ray3d(origin, testDirection), targetEllipsoid, distance);
if (testIntersection(Ray3d(origin, testDirection), targetEllipsoid, distance))
{
distance = std::min(distance, m_range);
}
else
{
distance = m_range;
}
footprint[i] = distance * direction;
}

6
src/celengine/solarsys.cpp
View File

@ -921,6 +921,10 @@ static Body* CreateBody(const string& name,
cerr << "No target specified for sensor.\n";
}
double range = 1.0;
sensorData->getNumber("Range", range);
sensor->setRange(range);
double horizontalFov = 5.0;
double verticalFov = 5.0;
sensorData->getNumber("HorizontalFOV", horizontalFov);
@ -938,8 +942,6 @@ static Body* CreateBody(const string& name,
sensor->setFrustumOpacity(frustumOpacity);
sensor->setGridOpacity(gridOpacity);
sensor->setRange(30000.0);
string resName = string("sensor") + targetName + body->getName();
GeometryInfo info(resName, path, Vector3f::Zero(), 1.0f, false);
info.resource = sensor;